Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration

Details Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration

2011-09-22

arxiv.org/abs/1109.4909v1

Computer Science

Computer Vision and Pattern Recognition

Scientific paper

Motivated by an emerging theory of robust low-rank matrix representation, in this paper, we introduce a novel solution for online rigid-body motion registration. The goal is to develop algorithmic techniques that enable a robust, real-time motion registration solution suitable for low-cost, portable 3-D camera devices. Assuming 3-D image features are tracked via a standard tracker, the algorithm first utilizes Robust PCA to initialize a low-rank shape representation of the rigid body. Robust PCA finds the global optimal solution of the initialization, while its complexity is comparable to singular value decomposition. In the online update stage, we propose a more efficient algorithm for sparse subspace projection to sequentially project new feature observations onto the shape subspace. The lightweight update stage guarantees the real-time performance of the solution while maintaining good registration even when the image sequence is contaminated by noise, gross data corruption, outlying features, and missing data. The state-of-the-art accuracy of the solution is validated through extensive simulation and a real-world experiment, while the system enjoys one to two orders of magnitude speed-up compared to well-established RANSAC solutions. The new algorithm will be released online to aid peer evaluation.

Affiliated with

Also associated with

No associations

Rating

Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-263941